200608-1
The MathWorksThe MathWorksAerospace & Defense Conference Aerospace & Defense Conference
Reston, VirginiaReston, VirginiaJune 14June 14--15, 200615, 2006
First Civilian First Civilian TiltrotorTiltrotor Takes FlightTakes Flight
David KingDavid KingBell HelicopterBell Helicopter
BA609 Analytical Integration LeaderBA609 Analytical Integration Leader
RESTRICTED DISCLOSURE NOTICE
The drawings, specifications, descriptions, and other technical data attached hereto are proprietary to Bell Helicopter Textron Inc. and constitute trade secrets for the purposes of the Trade Secret and Freedom of Information Acts. No disclosure to others, either in the United States or abroad, or reproduction of any part of the information supplied is to be made, and no manufacture, sale, or use of any invention or discovery disclosed herein shall be made, except by written authorization of Bell Helicopter Textron Inc.. This notice will not operate to nullify or limit rights granted by contract. The data subject to this restriction is contained in all sheets and is disclosed to Bell Helicopter Textron Inc. personnel or other parties involved with the 609 program for the purpose of internal use and distribution only.
COPYRIGHT NOTICE
Copyright ©2006Bell ® Helicopter Textron Inc.Unpublished - all rights reserved
200608-2
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-3
OUTLINEOUTLINE
•• What is the BA609 What is the BA609 TiltrotorTiltrotor??•• What can it do?What can it do?
–– Flight test resultsFlight test results–– VideoVideo
•• How was it developed?How was it developed?–– Systems engineering processSystems engineering process–– Extensive use of ModelExtensive use of Model--Based Design & Based Design &
simulation using The MathWorks toolssimulation using The MathWorks tools–– Example: Carefree Maneuvering functionsExample: Carefree Maneuvering functions
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-4
Bell-Agusta 609: The World’s First Civil Tiltrotor
First Flight on 20 March 2003 in Arlington, TX
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-5
PropulsionPowerplants (2)P&W PT6C-67A 1940 shp ea.
WeightsMax Gross Weight 16,800 lbEmpty weight 11,300 lbUseful Load 5,500 lb
CapacitiesRequired crew 2Passenger seating 6-9Baggage compartment 50 ft3
PerformanceMaximum cruise speed 275 ktasMaximum range 700 nmiOperational Ceiling 25,000 ft.
General DataGeneral Data
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-6
609 Interiors609 Interiors
Standard UtilityStandard Utility
Standard ClubStandard Club
ExecutiveExecutive
Air MedicalAir Medical
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-7
Flight Control SystemFlight Control SystemFeaturesFeatures
Pro Line 21Pro Line 21IFR Glass CockpitIFR Glass Cockpit
Triply RedundantTriply RedundantFlyFly--byby--WireWire
Flight ControlFlight ControlSystemSystem
Integrated Integrated Flight & Engine Flight & Engine
ControlsControls
InterconnectedInterconnectedSemiSemi--automaticautomatic
Conversion ControlConversion Control
Integrated Integrated Carefree Carefree
Maneuvering Maneuvering FunctionsFunctions
ArtificialArtificialForceForce--FeelFeel
InterconnectedInterconnectedSemiSemi--automaticautomatic
Conversion ControlConversion Control
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-8
BA609 Front OfficeBA609 Front Office
Flight Deck Arrangement
200608-9
FLIGHT TEST FLIGHT TEST ACCOMPLISHMENTSACCOMPLISHMENTS
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-10
25000 Feet25000 Feet
First Fully Pressurized Rotorcraft
Flight into known icing to be demonstrated
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-11
304 Knots True Airspeed304 Knots True Airspeed
Fastest Civil VTOL Aircraft
350 MPH
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-12
Video of Demo Flight atVideo of Demo Flight at2006 2006 HeliHeli--ExpoExpo
200608-13
DEVELOPMENTDEVELOPMENTPROCESSPROCESS
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-14
CLEAN SHEET OF PAPER CLEAN SHEET OF PAPER Development ChallengesDevelopment Challenges
•• How can first flight risk of a new type of How can first flight risk of a new type of aircraft be reduced?aircraft be reduced?
•• How will the complex, highly integrated How will the complex, highly integrated systems be certified?systems be certified?
•• How can the development time and How can the development time and cost be reduced?cost be reduced?
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-15
SAFE, EFFECTIVE, & AFFORDABLE
Requirements Development
Design Synthesis & Integration
System Test & Evaluation
Certification & Customer
Acceptance
Trade Study Analysis
Tools & Processes by The
MathWorks
• Modeling• Analysis• Simulation• Test Cases• Drawing
Control
Stakeholderneeds &wants
SYSTEMS ENGINEERING SYSTEMS ENGINEERING APPROACHAPPROACH
•• ModelModel--Based Based Design Design expedites expedites developmentdevelopment
•• Iterative trade Iterative trade study analyses study analyses to develop to develop requirementsrequirements
•• Structured, Structured, iterative design iterative design process heavily process heavily reliant on reliant on simulationsimulation
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-16
RISK REDUCTION RISK REDUCTION Extensive Use of SimulationExtensive Use of Simulation
•• Rapid prototyping and simulation/analysisRapid prototyping and simulation/analysis–– SimulinkSimulink®® modelsmodels–– MATLABMATLAB®® and Realand Real--Time WorkshopTime Workshop®® to evaluate to evaluate
performance vs. requirementsperformance vs. requirements•• Incremental buildIncremental build--up to full hardware in the up to full hardware in the
loop simulationloop simulation–– Stress testing of aircraft systems in a realistic, Stress testing of aircraft systems in a realistic,
closedclosed--loop mannerloop manner–– Piloted validation of emergency procedures and Piloted validation of emergency procedures and
failure mode responses failure mode responses
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-17
Electrical Generator Room
Electrical Sys Test Bench
Flight Control Test BenchesSwash Plate Actuator Rigs
Avionics Test Bench
Hydraulic Pump Room
Conversion Actuator Rigs
Full Capability HardwareFull Capability Hardware--inin--thethe--Loop (HIL) SimulationLoop (HIL) Simulation
Cockpit Rig
200608-18
PROCESS EXAMPLE:PROCESS EXAMPLE:
Development of Carefree Development of Carefree Maneuvering FunctionsManeuvering Functions
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-19
CAREFREE MANEUVERING:CAREFREE MANEUVERING:MotivationMotivation
•• 40% of helicopter piloting workload 40% of helicopter piloting workload derived from monitoring aircraft and flight derived from monitoring aircraft and flight envelope limitsenvelope limits
from G. D. from G. D. PadfieldPadfield, , Helicopter Flight Helicopter Flight DynamicsDynamics
•• Large # of rotorcraft accidents attributed Large # of rotorcraft accidents attributed to abrupt maneuvers, high pilot workload, to abrupt maneuvers, high pilot workload, or violation of limitsor violation of limits
from Harris, Kasper, and from Harris, Kasper, and IselerIseler, , ““U.S. Civil U.S. Civil Rotorcraft Accidents, 1963 to 1997Rotorcraft Accidents, 1963 to 1997””
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-20
Design Requirements defined via Simulation & Analysis
Loads criteria
Active load alleviation system
requirements
Tradeoffanalyses
Envelope & limitprotection system
requirements
Design envelope
Loads Criteria
Active loadAlleviation
Alloca
te to
System
TradeoffAnalyses
Envelope & Limit Prot.
Design Envelope
SYSTEM
STRUCTUREAir VehicleRequirements
Allocate toStructure
•• Iterative ModelIterative Model--Based Design to Based Design to attain proper balance of structural attain proper balance of structural strength vs. active system protectionstrength vs. active system protection
Rapid prototypingand simulation
using Real-Time Workshop
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-21
CFM Example: Flapping LimitingCFM Example: Flapping Limiting
DescriptionDescriptionRotor flapping is maintained within structural limits through acRotor flapping is maintained within structural limits through activetivecontrol of longitudinal cyclic command authoritycontrol of longitudinal cyclic command authority
..
Max Flappingconstrainedby structure
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-22
Flapping Limiter Model-Based Design
Tradeoffanalyses
High FidelitySimulation
Requirements BasedTest Cases
SimulinkPage 1.1
Real-TimeWorkshop
Iterative Model-BasedDesign
Rotor controlsAllow up to11ºflapping
Embedded control lawLimits flapping < 11 º
Cyclic control powerfor pitch maneuvers
Differential cyclic foryaw maneuvers
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-23
Flapping Limiting Control LawFlapping Limiting Control Law
Simulink Model
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-24
Flapping Limiting PerformanceFlapping Limiting Performance
0 3 6 9 12 15Time - sec
-4
0
4
8
12Fl
appi
ng/C
yclic
- de
g
Gimbaled rotorflapping limit of
11 deg.
Total hub flapping staysBelow limit for worst-case
maneuver
Longitudinalcyclic
command
Activelycontrolled
cycliclimit
Aggressive roll reversal in conversion mode
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-25
CFM EXAMPLE:CFM EXAMPLE:Conversion ProtectionConversion Protection
Nacelle Control
NacelleUpSwitch
NacelleDownSwitch
Emerg.UpSwitch
ConversionCorridorSchedules
ConversionProtection
3 deg/secTrim Rate
NacelleAngle
75600
Go ToDetentLogic
Airspeed
Lower A/S ErrorUpper A/S Error
8o/s-8o/s2o/s-2o/s
Trim RateSelector
Go to DetentMode Active
Manual / Emer.Nacelle Trim
Rate
s1
NacelleAngleCmd(deg)
UL LL
UL
LL
DetentSelector
Ground MaintInterlock
T
5
Off Downstop RPM 100%Off Downstop RPM 100%
VminVcon
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-26
CONVERSION PROTECTIONTIME HISTORY
-101030507090
0 10 20 30 40 50 60 70 80Time (s)
Nacelle Angle (deg)
050
100150200
0 10 20 30 40 50 60 70 80Time (s)
Airspeed andConversion
Corridor Limits (knots)
Maximum Airspeed (Vcon)
ComputedAirspeed
Minimum Airspeed (Vmin)
Aggressive re-conversion from 175 knots (HILS)
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-27
CONCLUDING REMARKSCONCLUDING REMARKS
•• The BA609The BA609----worldworld’’s first civil s first civil tiltrotortiltrotor----is flyingis flying•• Extensive use of iterative, ModelExtensive use of iterative, Model--Based Based
Design and simulation has minimized flight Design and simulation has minimized flight test surprisestest surprises–– SimulinkSimulink–– MATLABMATLAB–– RealReal--Time WorkshopTime Workshop
•• Carefree maneuvering functions have been Carefree maneuvering functions have been successfully implemented through Modelsuccessfully implemented through Model--Based DesignBased Design
Use or disclosure of data contained on this sheet is subject to the restriction on the disclosure notice of this document200608-28
Questions ?
Questions ?